Problem background:
1. The Yaskawa absolute encoder servo motor is used, such as SGM7J-04A 7 C6S. If the fourth digit after the horizontal bar is a number, it is an absolute encoder.
2. The host computer does not support M-II / III bus communication, the absolute encoder data can only be read directly from the servo side through serial communication.
If it is Anchuan 5 series servo and driver SGDV-XXXXXXX, then the absolute value data can be read through PAO, / PAO of CN1 port.
If it is Anchuan 7 series servo and driver SGD7S-XXXXXXX, you can read the absolute value data through PAO, / PAO or PSO, / PSO of CN1 port.
The communication method is RS-485. It is recommended that you can download a serial communication test software first.
Take SGD7S as an example.
Step 1: Hardware wiring Connect
PSO, / PSO to RS-485 T / R +, T / R-.
SEN, servo ON wiring.
The second step: parameter setting
pn002.2 = 0, the encoder is used as an absolute encoder. The
third step: PSO data format, communication format. Check
this in the servo user manual, stop bit, baud rate check You can see it.
The manual can be downloaded from the official website of Anchuan. Don't be lazy.
Absolute encoder position data = number of rotations * number of pulses in one rotation of the encoder (pn212) + position in one rotation
4th step: communication test
(1) give SEN signal, not servo ON signal , Read the number of revolutions and the position within 1 revolution.
(2) Give SEN signal and servo ON signal to read incremental pulse.
(3) Continue to read incremental pulses without giving SEN signal but with servo ON signal.
End
